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提出了一种适用于机械臂的分散模糊变结构轨迹跟踪控制方法．将机械臂的轨迹跟踪系统考虑为由线性子系统、非线性关联组成的不确定性复杂系统，采用分散控制方法进行控制器设计．所提出的控制方法能够保证系统状态有较高的跟踪精度．另外，通过在分散变结构控制系统中引入模糊控制规则减弱了一般变结构控制系统的颤振．控制算法简单可行，易于实现．数字仿真表明了该方法的有效性．
A decentralized fuzzy variable structure trajectory tracking control method suitable for manipulator is proposed. The trajectory tracking system of manipulator is considered as a complex system of uncertainties composed of linear subsystems and nonlinear relays. The decentralized control method is adopted to design the controller. The proposed control method can ensure the system state has a higher tracking accuracy. In addition, by introducing fuzzy control rules into the decentralized variable structure control system, the chattering of the general variable structure control system is weakened. Control algorithm is simple and feasible, easy to implement. Numerical simulation shows the effectiveness of this method.